Add Ur16e support

ur_description/config/ur16e/default_kinematics.yaml

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+kinematics:
+  shoulder:
+    x: 0
+    y: 0
+    z: 0.1807
+    roll: -0
+    pitch: 0
+    yaw: -0
+  upper_arm:
+    x: 0
+    y: 0
+    z: 0
+    roll: 1.570796327
+    pitch: 0
+    yaw: -0
+  forearm:
+    x: -0.4784
+    y: 0
+    z: 0
+    roll: -0
+    pitch: 0
+    yaw: -0
+  wrist_1:
+    x: -0.36
+    y: 0
+    z: 0.17415
+    roll: -0
+    pitch: 0
+    yaw: -0
+  wrist_2:
+    x: 0
+    y: -0.11985
+    z: -2.458164590756244e-11
+    roll: 1.570796327
+    pitch: 0
+    yaw: -0
+  wrist_3:
+    x: 0
+    y: 0.11655
+    z: -2.390480459346185e-11
+    roll: 1.570796326589793
+    pitch: 3.141592653589793
+    yaw: 3.141592653589793
+  hash: calib_1935737212149401527

ur_description/config/ur16e/joints_limits_parameters.yaml

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+# Joints limits
+# According to https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/max-joint-torques-17260/
+#          and ur16e fact sheet (e.g. https://cdn2.hubspot.net/hubfs/4316198/1_VENDOR-LITERATURE/Universal%20Robots/UR16e/UR16e_Fact%20Sheet_(2sided).pdf)
+limits:
+  shoulder_pan:
+    lower: -6.28318530718
+    upper: 6.28318530718
+    velocity: 2.094
+    effort: 330.0
+  shoulder_lift:
+    lower: -6.28318530718
+    upper: 6.28318530718
+    velocity: 2.094
+    effort: 330.0
+  elbow_joint:
+    lower: -6.28318530718
+    upper: 6.28318530718
+    velocity: 3.141
+    effort: 150.0
+  wrist_1:
+    lower: -6.28318530718
+    upper: 6.28318530718
+    velocity: 3.141
+    effort: 56.0
+  wrist_2:
+    lower: -6.28318530718
+    upper: 6.28318530718
+    velocity: 3.141
+    effort: 56.0
+  wrist_3:
+    lower: -6.28318530718
+    upper: 6.28318530718
+    velocity: 3.141
+    effort: 56.0

ur_description/config/ur16e/physical_parameters.yaml

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+# Physical parameters
+
+# from https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/parameters-for-calculations-of-kinematics-and-dynamics-45257/
+dh_parameters:
+  d1: 0.1807
+  a2: -0.4784
+  a3: -0.36
+  d4: 0.17415
+  d5: 0.11985
+  d6: 0.11655
+
+offsets:
+  shoulder_offset: 0.176 # measured from model
+  elbow_offset: 0.040 # measured from model
+
+inertia_parameters:
+  # taken from https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/parameters-for-calculations-of-kinematics-and-dynamics-45257/
+  base_mass: 4.0  # This mass might be incorrect
+  shoulder_mass: 7.369
+  upper_arm_mass: 10.450
+  upper_arm_inertia_offset: 0.175 # measured from model
+  forearm_mass: 4.321
+  wrist_1_mass: 2.180
+  wrist_2_mass: 2.033
+  wrist_3_mass: 0.907
+
+  shoulder_radius: x0.060   # FROM UR5 CURRENTLY NOT USED ANYMORE
+  upper_arm_radius: x0.054  # FROM UR5 CURRENTLY NOT USED ANYMORE
+  elbow_radius: x0.060      # FROM UR5 CURRENTLY NOT USED ANYMORE
+  forearm_radius: x0.040    # FROM UR5 CURRENTLY NOT USED ANYMORE
+  wrist_radius: x0.045      # FROM UR5 CURRENTLY NOT USED ANYMORE
+
+  links:
+    base:
+      radius: 0.075
+      length: 0.038
+    shoulder:
+      radius: 0.075
+      length: 0.178
+    upperarm:
+      radius: 0.075
+      length: 0.4784
+    forearm:
+      radius: 0.075
+      length: 0.36
+    wrist_1:
+      radius: 0.075
+      length: 0.12
+    wrist_2:
+      radius: 0.075
+      length: 0.12
+    wrist_3:
+      radius: 0.045
+      length: 0.05
+
+  center_of_mass: # Adjusted manually
+    shoulder_cog:
+      x: 0.0
+      y: 0.00244
+      z: -0.037
+    upper_arm_cog:
+      x: 0.00001
+      y: 0.15061
+      z: 0.38757
+    forearm_cog:
+      x: -0.00012
+      y: 0.06112
+      z: 0.1984
+    wrist_1_cog:
+      x: -0.00021
+      y: -0.00112
+      z: 0.02269
+    wrist_2_cog:
+      x: -0.00021
+      y: 0.00112
+      z: 0.002269
+    wrist_3_cog:
+      x: 0.0
+      y: -0.001156
+      z: -0.00149

ur_description/config/ur16e/visual_parameters.yaml

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+# Visualisation
+# UR16e uses the same parts as UR10e except the upper and lower arm are shortened
+
+mesh_files:
+  base:
+    visual:
+      mesh: "package://ur_description/meshes/ur10e/visual/base.dae"
+      material:
+        name: "LightGrey"
+        color: "0.7 0.7 0.7 1.0"
+    collision:
+      mesh: "package://ur_description/meshes/ur10e/collision/base.stl"
+
+  shoulder:
+    visual:
+      mesh: "package://ur_description/meshes/ur10e/visual/shoulder.dae"
+      material:
+        name: "LightGrey"
+        color: "0.7 0.7 0.7 1.0"
+    collision:
+      mesh: "package://ur_description/meshes/ur10e/collision/shoulder.stl"
+
+  upper_arm:
+    visual:
+      mesh: "package://ur_description/meshes/ur16e/visual/upperarm.dae"
+      material:
+        name: "LightGrey"
+        color: "0.7 0.7 0.7 1.0"
+    collision:
+      mesh: "package://ur_description/meshes/ur16e/collision/upperarm.stl"
+      mesh_files:
+
+  forearm:
+    visual:
+      mesh: "package://ur_description/meshes/ur16e/visual/forearm.dae"
+      material:
+        name: "LightGrey"
+        color: "0.7 0.7 0.7 1.0"
+    collision:
+      mesh: "package://ur_description/meshes/ur16e/collision/forearm.stl"
+
+  wrist_1:
+    visual:
+      mesh: "package://ur_description/meshes/ur10e/visual/wrist1.dae"
+      material:
+        name: "LightGrey"
+        color: "0.7 0.7 0.7 1.0"
+    collision:
+      mesh: "package://ur_description/meshes/ur10e/collision/wrist1.stl"
+    visual_offset: -0.135
+
+  wrist_2:
+    visual:
+      mesh: "package://ur_description/meshes/ur10e/visual/wrist2.dae"
+      material:
+        name: "LightGrey"
+        color: "0.7 0.7 0.7 1.0"
+    collision:
+      mesh: "package://ur_description/meshes/ur10e/collision/wrist2.stl"
+    visual_offset: -0.12
+
+  wrist_3:
+    visual:
+      mesh: "package://ur_description/meshes/ur10e/visual/wrist3.dae"
+      material:
+        name: "LightGrey"
+        color: "0.7 0.7 0.7 1.0"
+    collision:
+      mesh: "package://ur_description/meshes/ur10e/collision/wrist3.stl"
+    visual_offset: -0.1168

ur_description/launch/ur16e_upload.launch

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+<?xml version="1.0"?>
+<launch>
+  <!--ur10e parameters files -->
+  <arg name="joints_limits_params" default="$(find ur_description)/config/ur16e/joints_limits_parameters.yaml"/>
+  <arg name="kinematics_params" default="$(find ur_description)/config/ur16e/default_kinematics.yaml"/>
+  <arg name="physical_params" default="$(find ur_description)/config/ur16e/physical_parameters.yaml"/>
+  <arg name="visual_params" default="$(find ur_description)/config/ur16e/visual_parameters.yaml"/>
+  <!--common parameters -->
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
+  <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
+  <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
+  <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
+
+  <include file="$(find ur_description)/launch/ur_common.launch">
+    <arg name="joints_limits_params" value="$(arg joints_limits_params)"/>
+    <arg name="kinematics_params" value="$(arg kinematics_params)"/>
+    <arg name="physical_params" value="$(arg physical_params)"/>
+    <arg name="visual_params" value="$(arg visual_params)"/>
+    <arg name="transmission_hw_interface" value="$(arg transmission_hw_interface)"/>
+    <arg name="safety_limits" value="$(arg safety_limits)"/>
+    <arg name="safety_pos_margin" value="$(arg safety_pos_margin)"/>
+    <arg name="safety_k_position" value="$(arg safety_k_position)"/>
+  </include>
+</launch>

ur_description/launch/view_ur16e.launch

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+<?xml version="1.0"?>
+<launch>
+  <include file="$(find ur_description)/launch/ur16e_upload.launch"/>
+
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
+    <param name="use_gui" value="true"/>
+  </node>
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find ur_description)/cfg/view_robot.rviz" required="true" />
+</launch>